/*
Automatic clinic tests using a robot arm.
Copyright (C) 2010  CIC-CPC, CHU Gabriel Montpied
All other trademarks, logos and copyrights are the property
of their respective owners.

This file is part of cpc-painbot.

cpc-painbot is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

cpc-painbot is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with cpc-painbot.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef DEPLACERPTP_H
#define DEPLACERPTP_H
#include "commande/bras/deplacer.h"

namespace commande {
namespace bras {

/*! Déplacement 'Point-To-Point' (PTP).
    Un déplacement PTP s'effectue de la position courante du bras
    jusqu'au point d'arrivée à vitesse maximale.
    Le bras va tout d'abord se déplacer verticalement jusqu'à sa hauteur max,
    effectuer son déplacement, et enfin redescendre au point indiqué.
*/
class DeplacerPTP : public Deplacer
{
public:
    DeplacerPTP();
};

} // namespace bras
} // namespace commande
#endif // DEPLACERPTP_H
